CN108885836A - Driving assistance method and drive assistance device, automatic Pilot control device, vehicle, driving assistance system and the program for utilizing the driving assistance method - Google Patents

Driving assistance method and drive assistance device, automatic Pilot control device, vehicle, driving assistance system and the program for utilizing the driving assistance method Download PDF

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Publication number
CN108885836A
CN108885836A CN201780019526.6A CN201780019526A CN108885836A CN 108885836 A CN108885836 A CN 108885836A CN 201780019526 A CN201780019526 A CN 201780019526A CN 108885836 A CN108885836 A CN 108885836A
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automatization level
driving
driving behavior
variety
output
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CN108885836B (en
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江村恒
江村恒一
本村秀人
萨希姆·科尔科斯
泽田好秀
辻胜长
森俊也
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Panasonic Automotive Electronic Systems Co ltd
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Panasonic Intellectual Property Management Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0088—Adaptive recalibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Irrelevance of the automatization level determination unit based on reliability corresponding with the i.e. a variety of driving behaviors of the estimated result for using driving behavior model to obtain selects an automatization level being defined as in the automatization level of multiple ranks.The output template corresponding with the automatization level selected that a variety of driving behaviors are applied to and are defined as in the corresponding output template of automatization level of multiple ranks by generating unit, thus generates prompt information.Output section exports prompt information generated.

Description

Driving assistance method and drive assistance device, automatic using the driving assistance method Steering control device, vehicle, driving assistance system and program
Technical field
The present invention relates to a kind of vehicle, to vehicle setting driving assistance method and the driving assistance method is utilized Drive assistance device, automatic Pilot control device, driving assistance system, program.
Background technique
Automatic driving vehicle is travelled by the situation around detection vehicle and automatically execution driving behavior.It is this from It is dynamic to drive the vehicle operation device for carrying in vehicle and changing the behavior of automatic driving vehicle immediately for occupant.Vehicle operation device The driving behavior being able to carry out is prompted, to make occupant select driving behavior (for example, referring to patent document 1).
Patent document 1：International Publication No. 15/141308
Non-patent literature 1：" the design search of people and mechanical symbiosis《Anthropocentric automation》", pp.111~ 118, gloomy north is published, T.B.Sheridan, Telerobotics, " Automation, and Human Supervisory Control ", MITPress, 1992., T.Inagaki, etal, " Trust, self-confidence and authority In human-machine systems, " Proc.IFAC HMS, 1998.
Summary of the invention
The object of the present invention is to provide one kind suitably to be notified according to the reliability of suggested information to occupant The technology for the driving behavior being able to carry out.
The drive assistance device of some mode of the invention has automatization level determination unit, generating unit and output section. Automatization level determination unit is based on right respectively with a variety of driving behaviors as the estimated result for using driving behavior model to obtain An automatization level in automatization level of the irrelevance for the reliability answered to select to be defined as multiple ranks.Generating unit By being applied to a variety of driving behaviors in output template corresponding with the automatization level for being defined as multiple ranks Output template corresponding with the automatization level selected in automatization level determination unit, to generate prompt information.It is defeated Portion exports the prompt information generated in generating unit out.
Other way of the invention is a kind of automatic Pilot control device.The device has automatization level determination unit, life At portion, output section and automatic Pilot control unit.Automatization level determination unit be based on as using driving behavior model to obtain The irrelevance of the corresponding reliability of a variety of driving behaviors of estimated result select to be defined as the automatic of multiple ranks Change an automatization level in level.Generating unit by by a variety of driving behaviors be applied to be defined as multiple ranks from In the horizontal corresponding output template of dynamicization with an automatization level pair being selected in automatization level determination unit The output template answered, to generate prompt information.Output section exports the prompt information generated in generating unit.Automatic Pilot control unit The automatic Pilot of vehicle is controlled based on one of a variety of driving behaviors driving behavior.
Another mode of the invention is a kind of vehicle.The vehicle is a kind of vehicle for having drive assistance device.It drives Auxiliary device has automatization level determination unit, generating unit and output section.Automatization level determination unit be based on as using The irrelevance of the corresponding reliability of a variety of driving behaviors for the estimated result that driving behavior model obtains selects to be defined For an automatization level in the automatization level of multiple ranks.Generating unit is by being applied to a variety of driving behaviors and being determined Justice be in the corresponding output template of automatization level of multiple ranks with select in automatization level determination unit The corresponding output template of one automatization level, to generate prompt information.The prompt letter that output section output generates in generating unit Breath.
Another mode of the invention is a kind of driving assistance system.The driving assistance system, which has, generates driving behavior mould The server of type and the drive assistance device for receiving the driving behavior model generated in the server.Drive assistance device has certainly The horizontal determination unit of dynamicization, generating unit and output section.Automatization level determination unit be based on as using driving behavior model to obtain To estimated result the corresponding reliability of a variety of driving behaviors irrelevance come select to be defined as multiple ranks from An automatization level in dynamicization level.Generating unit is by being applied to by a variety of driving behaviors and being defined as multiple ranks In the corresponding output template of automatization level with an automatization level being selected in automatization level determination unit Corresponding output template, to generate prompt information.Output section exports the prompt information generated in generating unit.
Another mode of the invention is a kind of driving assistance method.This approach includes the following steps：Select Automated water It is flat；Generate prompt information；And output prompt information generated.In the step of selecting automatization level, it is based on and conduct The irrelevance of the corresponding reliability of a variety of driving of the estimated result obtained using driving behavior model selects to be defined For an automatization level in the automatization level of multiple ranks.In the step of generating prompt information, by being driven a variety of Sail behavior applied in output template corresponding with the automatization level for being defined as multiple ranks with select one The corresponding output template of a automatization level, to generate prompt information.
In addition, the arbitrary of above constituent element combines and of the invention is shown device, system, method, journey It carries out converting resulting mode between sequence, the non-transitory recording medium having program recorded thereon, vehicle equipped with the present apparatus etc. It is effective as mode of the invention.
In accordance with the invention it is possible to suitably notify driving behavior to occupant according to the reliability of suggested information.
Detailed description of the invention
Fig. 1 is the figure for indicating the structure of vehicle involved in embodiment.
Fig. 2 is the indoor figure for schematically showing the vehicle of Fig. 1.
Fig. 3 is the figure for indicating the structure of control unit of Fig. 1.
Fig. 4 is the figure for indicating the movement summary of automatization level determination unit of Fig. 3.
Fig. 5 is the figure of the structure of the output template stored in the output template storage unit for indicate Fig. 3.
Fig. 6 is the figure of the structure of the other output templates stored in the output template storage unit for indicate Fig. 3.
Fig. 7 is the figure of the structure of another output template stored in the output template storage unit for indicate Fig. 3.
Fig. 8 A is the figure for indicating the structure of the prompt information generated in the generating unit of Fig. 3.
Fig. 8 B is the figure for indicating the structure of the prompt information generated in the generating unit of Fig. 3.
Fig. 9 is the flow chart of the output process for the display control section for indicating Fig. 3.
Specific embodiment
Before illustrating embodiments of the present invention, the problem of simpling illustrate previous system.In automatic Pilot vehicle Automated system in, due to the situation on the periphery of the vehicle at every moment changed or the situation on the periphery for detecting vehicle Sensor performance limitation etc., the reliability for the driving behavior being able to carry out being prompted has fluctuation.This is not grasped in occupant In the case that the fluctuation of kind reliability has just selected the driving behavior being able to carry out being prompted, it is possible to produce to Department of Automation The distrust of system.In addition, when the judging result using the almost unchanged interface of reminding method to notify automated system, for For driver, the distrust to system is led to due to the low judging result of reliability, or due to the judgement of high reliablity As a result lead to the excessive trust to system.Also, make driver's inquiry for the reply of the judging result of high reliablity every time Measure, may make driver be fed up with or there is a possibility that the driver being fed up with ignore instead should emphasis reply sentence Disconnected result.
Summary is described before specifically describing present embodiment.Present embodiment is related to a kind of automatic Pilot of automobile. In particular, present embodiment be related to it is a kind of to for exchanged between the occupant (such as driver) with vehicle with the driving row of vehicle For HMI (the Human Machine Interface of related information：Man-machine interface) device that is controlled is (hereinafter also referred to " drive assistance device ".).The various terms in present embodiment are defined as following." driving behavior " includes the row of vehicle Content is controlled involved in the working conditions such as steering, braking in sailing or when stopping or automatic Pilot control, it is e.g. specified Fast traveling, acceleration, deceleration, pause, stopping, lane change, route diversion, left and right turning, parking etc..In addition, driving behavior It can be cruise (keep lane and keep speed), lane is kept, front truck follows, the starting parking at any time, lane change, super Vehicle, reply interflow vehicle, the road switching (expressway entrance) including disengaging highway, interflow, reply construction area Domain, reply emergency vehicle, reply swarm into vehicle, reply left and right turn slot and the interaction of pedestrian/bicycle, hide vehicle Barrier in addition, reply mark, reply left and right turning/u-turn limitation, the limitation of reply lane, reply one-way trip, reply are handed over Logical mark, reply intersection/rotary island etc..
As " driving behavior estimation engine ", it is able to use DL (Deep Learning：Deep learning), ML (Machine Learning：Machine learning), filtering etc. any of or their combination.Deep Learning is, for example, CNN (Convolutional Neural Network：Convolutional neural networks), RNN (Recurrent Neural Network：Recurrence Neural network).In addition, Machine Learning is, for example, SVM (Support Vector Machine：Support vector machines). Also, filtering e.g. collaborative filtering.
Engine is estimated according to driving behavior to uniquely determine " driving behavior model ".Driving behavior mould in the case where DL Type is the neural network (Neural Network) learnt, and the driving behavior model in the case where SVM is the prediction learnt Model, the driving behavior model in the case where collaborative filtering is by the data of running environment data and driving behavior data link. Rule base is remained to pre-determined determinating reference, in the rule base, driving behavior model is in a variety of behavior difference tables Show it is dangerous or not dangerous in the case where will input with export the data that link.
Based on this definition, here, exporting driving behavior using by the driving behavior model of the generations such as machine learning. The reliability of driving behavior to around vehicle situation, the limitation of the performance of sensor and learning Content before this it is corresponding Ground variation.In the case where the high reliablity of the driving behavior predicted, driver follows the driving behavior, but is driving In the case that the reliability of behavior is low, driver had better not follow the driving behavior.Therefore, the case where prompting driving behavior Under, it is expected that driver is made also to grasp the reliability of driving behavior.Therefore, in the present embodiment, according to each driving behavior mould The reliability of type changes output method.In addition, reliability indicates the confidence level for the driving behavior being exported, in the case where DL It is equivalent to the accumulated value of estimated result, confidence value (confidence value) is equivalent in the case where SVM, was being cooperateed with The degree of correlation is equivalent in the case where filter.The reliability of rule is equivalent in the case where rule base.
In the following, explaining embodiments of the present invention in detail referring to attached drawing.In addition, each embodiment being described below It is an example, the present invention is not limited to these embodiments.
Fig. 1 shows the structure of vehicle 100 involved in embodiment, specifically shown structure related with automatic Pilot.Vehicle 100 can be travelled with automatic driving mode, including notice device 2, input unit 4, wireless device 8, driver behavior portion 10, inspection Survey portion 20, automatic Pilot control device 30 and drive assistance device (HMI controller) 40.Between each device shown in FIG. 1 Special line or CAN (Controller Area Network can be passed through：Controller area network) etc. wired communication modes connection.In addition, can also To pass through USB (Universal Serial Bus：Universal serial bus), Ethernet (registered trademark), Wi-Fi (registrar Mark), the wire communications such as Bluetooth (registered trademark) or communication be attached.
Notify device 2 to driver notification information related with the traveling of vehicle 100.Notice device 2 is, for example, to be arranged In interior Vehicular navigation system, head-up display, central display unit, steering wheel, connecting column, instrument board, detection instrument board etc. Provided around the illuminators such as LED (light emitting diode) it is such for showing the display unit of information.In addition, notice device 2 It can be the loudspeaker for converting information into sound to give notice to driver, or be also possible to be set to driver institute energy The vibrating body of the position (for example, the driver's seat of driver, steering wheel etc.) of perception.Notice device 2 can also be these devices Combination.Input unit 4 is the user's interface device for receiving the operation input of occupant.For example, input unit 4 is received by driving The information related with the automatic Pilot of this vehicle of member's input.The information received is output to by input unit 4 as operation signal Drive assistance device 40.
Fig. 2 schematically shows the interior of vehicle 100.Notify device 2 either head-up display (HUD) 2a, it can also To be central display unit 2b.Input unit 4 is also possible to setting and exists either be set to the first operation portion 4a of steering wheel 11 The second operation portion 4b between driver's seat and passenger seat.In addition, notice device 2 and input unit 4 can also form one, example Form as touch panel display can also be mounted to.It is also possible to also set up loudspeaker 6 in vehicle 100, the loudspeaker 6 Information related with automatic Pilot is prompted to occupant by sound.In this case, drive assistance device 40 can also make to notify The display of device 2 indicates the image of information related with automatic Pilot, indicates have with automatic Pilot from the output of loudspeaker 6 at the same time The sound of the information of pass, or the sound of information related with automatic Pilot is instead indicated from the output of loudspeaker 6.It returns To Fig. 1.
Wireless device 8 and portable telephone communication system, WMAN (Wireless Metropolitan Area Network：Wireless MAN) etc. it is corresponding, for executing wireless communication.Specifically describe, wireless device 8 via network 302 with Server 300 communicates.Server 300 is the device outside vehicle 100, including driving behavior study portion 310.Narration drives hereinafter Action learning portion 310.In addition, can include server 300 and drive assistance device 40 in driving assistance system 500.
Driver behavior portion 10 has diverter 11, brake pedal 12, accelerator pedal 13 and turning indicator control 14.Diverter 11, brake pedal 12, accelerator pedal 13, turning indicator control 14 can be using steering lamp controllers to diverter ECU, brake At least one party in ECU, Engine ECU and motor ECU is electronically controlled.Under automatic driving mode, diverter ECU, Brake ECU, Engine ECU and motor ECU drive cause according to the control signal provided from automatic Pilot control device 30 Dynamic device.In addition, direction instruction lamp controller makes direction instruction according to the control signal provided from automatic Pilot control device 30 Lamp is lighted or is extinguished.
The peripheral situation and driving status of the detection vehicle 100 of test section 20.Test section 20 for example detects the speed of vehicle 100 Degree, leading vehicle relative to the relative velocity of vehicle 100, vehicle 100 at a distance from leading vehicle, the vehicle in side lane Relative to the relative velocity of vehicle 100, vehicle 100 at a distance from the vehicle in side lane and the location information of vehicle 100.Inspection The various information (hereinafter referred to as " detection information ") that survey portion 20 will test are output to automatic Pilot control device 30 and drive auxiliary Help device 40.Test section 20 includes that location information acquisition unit 21, sensor 22, velocity information acquisition unit 23 and cartographic information obtain Take portion 24.
Location information acquisition unit 21 is from GPS (Global Positioning System：Global positioning system) receiver obtains The current location of pick-up 100.Sensor 22 is the various sensors for detecting the state of situation and vehicle 100 outside vehicle General name.As the sensor for detecting the situation outside vehicle, such as carry video camera, millimetre-wave radar, LIDAR (Light Detection and Ranging,Laser Imaging Detection and Ranging：Laser radar), temperature sensing Device, baroceptor, humidity sensor, illuminance transducer etc..Situation outside vehicle includes：This garage including lane information The condition of road surface sailed；Environment including weather；This vehicle surrounding condition；And positioned at neighbouring position other vehicles (adjacent Other vehicles of lanes etc.).In addition, as long as the information outside the vehicle that can be detected of sensor 22, can be any letter Breath.In addition, the sensor 22 as the state for detecting vehicle 100, such as carry acceleration transducer, gyro sensors Device, geomagnetic sensor, inclination sensor etc..
Velocity information acquisition unit 23 obtains the present speed of vehicle 100 from vehicle speed sensor.Cartographic information acquisition unit 24 from Map data base obtains the cartographic information on the current location periphery of vehicle 100.Map data base can both be recorded in vehicle in advance Recording medium in 100 can also be downloaded via network from map server when in use.
Automatic Pilot control device 30 is the auto-pilot controller for being equipped with automatic Pilot control function, for determining certainly The behavior of vehicle 100 in dynamic driving.Automatic Pilot control device 30 has control unit 31, storage unit 32 and the (input of the portion I/O Output section) 33.The structure of control unit 31 can be realized by cooperating for hardware resource and software resource, or only pass through hardware Resource is realized.As hardware resource, processor, ROM (Read Only Memory can be utilized：Read-only memory), RAM (Random Access Memory：Random access memory) and other LSI (large scale integrated circuit), it is provided as software Source can utilize the programs such as operating system, application program, firmware.Storage unit 32 has the non-volatile recordings such as flash memory Medium.The portion I/O 33 executes communication control corresponding with various communication formats.For example, the portion I/O 33 is exported to drive assistance device 40 Information related with automatic Pilot, and from drive assistance device 40 to the 33 input control order of the portion I/O.In addition, from test section 20 input detection information to the portion I/O 33.
What control unit 31 was collected by the control command inputted from drive assistance device 40, from test section 20 or various ECU Various Information applications are in automatic Pilot algorithm, to calculate the control that direction of travel for controlling vehicle 100 etc. automatically controls object Value processed.Calculated controlling value is transmitted to the ECU or controller of each control object by control unit 31.In the present embodiment, it passes It is delivered to diverter ECU, brake ECU, Engine ECU, direction instruction lamp controller.In addition, in electric car or hybrid power In the case where vehicle, controlling value is transmitted to motor ECU instead of Engine ECU, or in addition to transmitting controlling value to Engine ECU Controlling value also is transmitted to motor ECU in addition.
Drive assistance device 40 is the HMI (Human for executing the interface function between vehicle 100 and driver Machine Interface：Man-machine interface) controller, have control unit 41, storage unit 42 and the portion I/O 43.Control unit 41 is held The various data processings such as row HMI control.Control unit 41 can be realized by cooperating for hardware resource and software resource, or only It is realized by hardware resource.As hardware resource, can be provided using processor, ROM, RAM and other LSI as software Source can utilize the programs such as operating system, application program, firmware.
Storage unit 42 be for store by control unit 41 referring to or update data storage region.Such as pass through flash memory The non-volatile recording medium such as reservoir is realized.The portion I/O 43 executes various communication control corresponding with various communication formats.I/O Portion 43 has operation inputting part 50, image/sound output section 51, detection information input unit 52, order IF (interface) 53 and leads to Believe IF 56.
Operation inputting part 50 is received by driver or occupant or the user outside vehicle from input unit 4 to input unit The operation signal of 4 operations carried out, and the operation signal is exported to control unit 41.It image/sound output section 51 will be by control unit 41 image datas generated or voice message are output to notice device 2 to be shown.Detection information input unit 52 is from test section 20 is receiving the detection processing carried out using test section 20 as a result, indicating the current peripheral situation of vehicle 100 and travelling shape The information (hereinafter referred to as " detection information ") of state, and the information is exported to control unit 41.
Order IF 53 is used to execute the interface processing between automatic Pilot control device 30, including behavioural information input Portion 54 and order output section 55.Behavioural information input unit 54 receive sent from automatic Pilot control device 30 with vehicle 100 The related information of automatic Pilot, and it is output to control unit 41.Order output section 55 is received from control unit 41 for automatic Pilot Control device 30 indicates the control command of the mode of automatic Pilot, and is sent to automatic Pilot control device 30.
Communication IF 56 is used to execute the interface processing between wireless device 8.Communication IF 56 will be exported from control unit 41 Data be sent to wireless device 8, and then the device outside vehicle is sent to from wireless device 8.In addition, communication IF 56 is received by nothing The data for the device outside vehicle that line apparatus 8 transmits, and it is output to control unit 41.
In addition, here, automatic Pilot control device 30 is configured to mutually independent device with drive assistance device 40.As change Automatic Pilot control device 30 and drive assistance device 40 can also be integrated into one like that as indicated by the dashed line in figure 1 by shape example Controller.In other words, it is also possible to an automatic Pilot control device to have the automatic Pilot control device 30 of Fig. 1 and drive auxiliary Help the structure of the function of 40 this both sides of device.
The structure of Fig. 3 expression control unit 41.Control unit 41 includes driving behavior estimator 70 and display control section 72.It drives Behavior estimator 70 includes driving behavior model 80, estimator 82 and histogram generating unit 84.Display control section 72 includes certainly The horizontal determination unit 90 of dynamicization, output template storage unit 92, generating unit 94 and output section 96.
In candidate of the driving behavior estimator 70 in order to determine multiple driving behaviors that vehicle 100 is able to carry out current Situation under the driving behavior that can be realized, use the neural network (NN) for first passing through study building in advance.Here, can be realized Driving behavior be also possible to it is multiple, determine driving behavior could also say that estimation driving behavior.
Processing in driving behavior estimator 70 is also related to the driving behavior study portion 310 in the server of Fig. 1 300 Connection, therefore, illustrates the processing in driving behavior study portion 310 first herein.310 driving multiple drivers of driving behavior study portion It sails at least one of historical record and running history record and is input to neural network as parameter.In addition, driving behavior learns The weight of 310 optimization neural network of portion, so that the output from neural network and the training data for corresponding to inputted parameter Unanimously.Driving behavior study portion 310 generates driving behavior model 80 by executing this processing repeatedly.That is, driving Behavior model 80 is the neural network after weight is optimised.The driving that server 300 will generate in driving behavior study portion 310 Behavior model 80 is output to drive assistance device 40 via network 302, wireless device 8.In addition, 310 base of driving behavior study portion Driving behavior model 80 is updated in new parameter, but updated driving behavior model 80 can both be driven by being output in real time Auxiliary device 40 is sailed, drive assistance device 40 can also be output to being delayed by.
By driving behavior study portion 310 generate and be input into driving behavior estimator 70 driving behavior model 80 be by The neural network of at least one of the driving history record and running history record of multiple drivers building.In addition, driving row It is also possible to the running history record by specific driver for model 80 and has used the shift learning of running history record To rebuild the nerve as obtained from the driving history record of multiple drivers and the neural network of running history record building Network.Well known technology is used in the building of neural network, therefore in this description will be omitted.In addition, in the driving row of Fig. 3 For in estimator 70 include a driving behavior model 80, but in driving behavior estimator 70 can also by each driver, Occupant, driving scene, weather, country include multiple driving behavior models 80.
Estimator 82 estimates driving behavior using driving behavior model 80.Here, driving history record indicates and by vehicle The 100 corresponding multiple characteristic quantities (hereinafter referred to as " feature quantity set ") of multiple driving behaviors carried out in the past.With driving behavior The time point of stipulated time before corresponding multiple characteristic quantities are, for example, the time point for indicating to carry out the driving behavior by vehicle 100 Vehicle 100 driving status amount.Characteristic quantity is, for example, co-driver number, the speed of vehicle 100, the movement of steering wheel, braking Degree, the degree of acceleration etc..Driving history record can also be referred to as driving performance model.Therefore, characteristic quantity be, for example, with It is the related characteristic quantity of speed, characteristic quantity related with diverter, characteristic quantity related with operation timing, related with vehicle external sensed Characteristic quantity senses related characteristic quantity etc. with car.These characteristic quantities are detected by the test section 20 of Fig. 1, and via the portion I/O 43 It is input into estimator 82.In addition, these characteristic quantities can also be added in the running history record of multiple drivers, to weigh It is used newly in the reconstruction of neural network.Also, these characteristic quantities can also be added to the running history record of specific driver In, to be reused for the reconstruction of neural network.
Running history record indicates that multiple environment corresponding with the multiple driving behaviors carried out in the past by vehicle 100 are joined Number (hereinafter referred to as " environmental parameter collection ").Multiple environmental parameters corresponding with driving behavior are, for example, to indicate to be carried out by vehicle 100 The parameter of the environment (situation of surrounding) of the vehicle 100 at the time point of stipulated time before the time point of the driving behavior.Environment Parameter is, for example, the speed of this vehicle, leading vehicle relative to the relative velocity of this vehicle and the vehicle of leading vehicle and this vehicle Between distance etc..In addition, these environmental parameters are detected by the test section 20 of Fig. 1, and estimator 82 is input into via the portion I/O 43. In addition, these environmental parameters can also be added in the running history record of multiple drivers, to be reused for neural network Reconstruction.Also, these environmental parameters can also be added in the running history record of specific driver, to be reused for The reconstruction of neural network.
Estimator 82 obtains the feature quantity set for including in driving history record or running history record or environmental parameter to make To input parameter.Estimator 82 inputs input parameter to the neural network of driving behavior model 80, will be from the defeated of neural network Histogram generating unit 84 is output to as estimated result out.
Histogram generating unit 84 obtains driving behavior and estimated result corresponding with each driving behavior from estimator 82, comes Generate the histogram for indicating the aggregate-value of the estimated result for the driving behavior.It therefore, include a variety of driving in histogram Behavior and accumulated value corresponding with each driving behavior.Here, accumulated value is the estimated result by leading-out needle to driving behavior The value that number is accumulated.The histogram of generation is output to automatization level determination unit 90 by histogram generating unit 84.
Automatization level determination unit 90 by histogram generating unit 84 input histogram, that is, a variety of driving behaviors and with The corresponding accumulated value of each driving behavior, determines automatization level based on these contents.It is handed over here, needing to monitor according to driver The operational responsibility which logical situation to which kind of degree or driver undertake vehicle within the scope of defines automation multi-levelly It is horizontal.That is, automatization level be with determine what do, when executing the movement people and automated system how Enough coordinate related concept.Automatization level is for example in the Dao Yuan, " design search of people and mechanical symbiosis《Centered on the mankind Automation》", pp.111~118, gloomy north is published, T.B.Sheridan, Telerobotics, " Automation, and Human Supervisory Control ", MITPress, 1992., T.Inagaki, etal, " Trust, self- Confidence and authority in human-machine systems, " Proc.IFACHMS, it is public in 1998. It opens.
Here, automatization level is for example defined as 11 ranks.In the case where automatization level " 1 ", the mankind are not having It is determined in the case where the auxiliary for having computer and executes all operations.In the case where automatization level " 2 ", computer prompted institute Some options, the mankind select and execute one of option.In the case where automatization level " 3 ", computer is mentioned to the mankind Show all possible option, and select and propose one of option, is decided whether to execute the option by the mankind.It is automating In the case where horizontal " 4 ", computer is selecting the rear of option to propose the option to the mankind from possible option, and the mankind determine It is fixed whether to execute the option.In the case where automatization level " 5 ", computer prompts a scheme to the mankind, if the mankind are same Meaning, then computer executes the program.
In the case where automatization level " 6 ", computer to the mankind prompt a scheme, as long as the mankind the set time with It does not indicate inside to execute suspension, computer is carried out the program.In the case where automatization level " 6.5 ", computer is to the mankind It prompts to execute the program while scheme.In the case where automatization level " 7 ", computer carries out all operations, and leads to Know the mankind perform anything.In the case where automatization level " 8 ", computer determines and executes all operations, if the mankind ask It asks, then notifies the mankind perform anything.In the case where automatization level " 9 ", computer determines and executes all operations, only exists Computer confirmed to notify what the mankind perform when necessity.In the case where automatization level " 10 ", computer is determined simultaneously Execute all operations.In this way, do not automated in the case where minimum automatization level " 1 ", be entirely manually, In the case where highest automatization level " 10 ", automated completely.That is, automatization level is higher, by computer The processing of progress more becomes leading.
Here, successively illustrating the processing in automatization level determination unit 90.Firstly, automatization level determination unit 90 is to histogram The accumulated value of figure and median and each driving behavior accumulated value difference value carry out square.Since difference is positive and negative both sides Value, therefore carry out square being to export the distance between median.Then, automatization level determination unit 90 is according to respectively driving The difference of the square value of behavior is sailed to export the irrelevance of the shape of histogram, that is, indicates that the accumulated value of each driving behavior is concentrated Degree irrelevance.For example, if the square value of each driving behavior within the limits prescribed, the deviation of the shape of histogram It spends small.On the other hand, in the square value of at least one driving behavior compared with other square values it is more than big specified value in the case where, The irrelevance of the shape of histogram is big.In addition, in the case where the irrelevance of the shape of histogram is big, automatization level determination unit 90 successively calculate from the histogram of the high driving behavior of accumulated value the accumulated value that remaining driving behavior is subtracted from accumulated value It is worth obtained from median, as kurtosis.The kurtosis that automatization level determination unit 90 is greater than specified value to kurtosis counts As peak, and calculate peak number.
In this way, automatization level determination unit 90 exports irrelevance and peak number based on accumulated value, which is and conduct A variety of driving behaviors of the estimated result obtained using the driving behavior model by generations such as machine learning are corresponding can By property.Also, automatization level determination unit 90 is defined as the automatization level of multiple ranks based on irrelevance and peak number selection In an automatization level.For example, automatization level determination unit 90 selects automatically in the case where driving behavior number is " 0 " Change horizontal " 1 ".In addition, automatization level determination unit 90 selects automatization level " 2 " in the case where irrelevance is small.In addition, In the case that peak number is 2 or more, automatization level determination unit 90 selects automatization level " 3 ", in the case where peak number is 1, from The horizontal determination unit 90 of dynamicization selects any of automatization level 3~10.Here, automatization level determination unit 90 is according to deviation Degree or the specified value of kurtosis select any of automatization level 3~10.Automatization level determination unit 90 is to generating unit 94 Notify a variety of driving behaviors for including in the gentle histogram of selected Automated water.
The movement summary of Fig. 4 expression automatization level determination unit 90.Here, as one inputted from histogram generating unit 84 Example, shows the first histogram 200, the second histogram 202.Become simple to make to compare, it is straight in the first histogram 200, second Driving behavior A~E is jointly comprised in square Figure 20 2, but also may include mutually different driving behavior.In the first histogram 200 In, the accumulated value of other driving behaviors is noticeably greater than directed to for the accumulated value of driving behavior A.Therefore, in the first histogram 200 Irrelevance become larger.On the other hand, do not have in the second histogram 202 comprising the significant big driving behavior of accumulated value.Therefore, Irrelevance in two histograms 202 becomes smaller.For the first histogram 200 big for irrelevance, automatization level is selected " 6.5 " for the second histogram 202 small for irrelevance, select automatization level " 2 ".This is because, by the inclusion of significant Accumulated value, irrelevance is bigger, and the reliability of the selection of driving behavior is higher.Back to Fig. 3.
Output template storage unit 92 stores output template corresponding with the automatization level for being defined as multiple ranks. Output template is the format for showing the driving behavior estimated by driving behavior estimator 70 to driver.Output template was both It can be defined as sound and text, image and image can also be defined as.Fig. 5 indicates to store in output template storage unit 92 Output template structure.For automatization level " 1 ", storage " can not automatic Pilot.It please manual drive." sound and Text, and store the image and image for not urging driver to be inputted.
For automatization level " 2 ", the sound and text of storage " please selecting automatic Pilot from A, B, C, D, E ", and And storage is for urging driver to input the image and image of A to any of E.Here, inputting driving behavior from A to E.This Outside, the number for the driving behavior being entered is not limited to " 5 ".For automatization level " 3 ", storage is " possible automatic Driving is A and B.Which is executed？" sound and text, and store for urge driver select A or B image and shadow Picture.In addition, image and image can also show the message of " A or B " with Japanese.
Fig. 6 indicates the structure of the other output templates stored in output template storage unit 92.For automatization level " 4 " Speech, " automatic Pilot of recommendation is A for storage.It please press executive button or pause button." sound and text, and store be used for Driver is urged to select the image and image that execute or stop.In addition, image and image can also be shown with Japanese " please select to hold Row or the message for cancelling A ".For automatization level " 5 ", " automatic Pilot of recommendation is A for storage.It is held if replying OK Row A." sound and text, and also store for had input from driver exported in the case where the answer of " OK " " execute Automatic Pilot A." sound and text.In addition, the image and image of sound of the storage for urging driver's sending " OK ".This Outside, image and image can also show the message of " in order to execute A, please say ' OK ' " with Japanese.For automatization level " 6 " Speech, " automatic Pilot of recommendation is A for storage.A is executed in the case where not pressing pause button within 10 seconds." sound and text Word, and store to image and image as making the time of pause button accepted until end be counted down.This Outside, image and image can also show the message of " executing A if not cancelling within 3 seconds " with Japanese.
Fig. 7 indicates the structure of another output template stored in output template storage unit 92.For automatization level For " 6.5 ", storage " executes automatic Pilot A.Pause button please be press in the case where wanting and stopping." sound and text, And store the image and image for indicating pause button.In addition, image and image can also be shown with Japanese " executes A.In order in Please only cancel " message.For automatization level " 7 ", it is stored in " executing automatic of being exported after executing automatic Pilot A Drive A." sound and text, and store the image and image for informing the execution of automatic Pilot A.In addition, image and shadow Message as that can also show " performing A " with Japanese.
For automatization level " 8 ", it is stored with to be had input after executing automatic Pilot A by driver and " has occurred assorted ?？" in the case where to be exported " perform automatic Pilot A to hide pedestrian." sound and text.In addition, storage is used for Inform the execution of automatic Pilot A and its image and image of reason.In addition, image and image can also be shown with Japanese " in order to Hide pedestrian and performs the message of A ".For automatization level " 9 ", be stored in execute automatic Pilot A after to be exported " for It avoids collision and performs automatic Pilot A." sound and text, and image and image when storing with automatization level " 8 " Identical image and image.For automatization level " 10 ", do not store sound and text, and store do not urge driver into The image and image of row input.
According to Fig. 5 to Fig. 7, output template corresponding with the automatization level of 11 ranks is divided into 4 classes.The first kind Be include automatization level " 1 " first level automatization level under output template.This is under minimum automatization level Output template.In the output template under the automatization level of first level, driving behavior is not notified.Second class be include from Output template under the automatization level for the second level that dynamicization level " 2 " arrives " 6.5 ".This is that automatization level compares first level Output template under high automatization level.In the output template under the automatization level of second level, driving behavior is notified Option.In addition, also comprising stopping in option.
Third class be include automatic horizontal " 7 " to " 9 " third level automatization level under output template.This is certainly Output template under the horizontal automatization level higher than second level of dynamicization.Output mould under the automatization level of third level In plate, notify driving behavior executes report.4th class be include automatization level " 10 " fourth level automatization level Under output template.This is that automatization level is higher than third level and the highest output template of automatization level.In fourth level Automatization level under output template in, do not notify driving behavior.Back to Fig. 3.
Generating unit 94 receives the selected gentle a variety of driving behaviors of Automated water out from automatization level determination unit 90.It is raw It obtains from the multiple output templates stored in output template storage unit 92 at portion 94 and is selected in automatization level determination unit 90 The corresponding output template of an automatization level selected out.In addition, generating unit 94 by a variety of driving behaviors by being applied to be obtained The output template got generates prompt information.This is equivalent to the option for including in Fig. 5~output template shown in Fig. 7 Driving behavior is embedded in " A "~" E " etc..Generating unit 94 exports prompt information generated.
Fig. 8, Fig. 8 B indicate the structure of the prompt information generated in generating unit 94.Fig. 8 A is indicated in automatization level " 2 " Output template image and image in insertion turn left, left-lane change, straight trip, right lane change, turn right driving row Prompt information for after.Fig. 8 B indicates insertion straight trip, right lane in the image and image of the output template of automatization level " 3 " Prompt information after the driving behavior of change.Back to Fig. 3.
Output section 96 is entered the prompt information from generating unit 94, and exports prompt information.It is sound in prompt information In the case where text, output section 96 exports prompt information to the loudspeaker 6 of Fig. 2 via the image and audio output unit 51 of Fig. 1. The voice message of the output prompt information of loudspeaker 6.In the case where prompt information is image and image, output section 96 is via Fig. 1 Image and head-up display 2a from audio output unit 51 to Fig. 2 or central display 2b export prompt information.Head-up display The image of 2a or central display 2b display reminding information.In addition, the automatic Pilot control device 30 of Fig. 1 is based on and a variety of driving The corresponding control command of one of behavior driving behavior controls the automatic Pilot of vehicle 100.
The movement of the drive assistance device 40 of the above structure is illustrated.Fig. 9 is the output process for indicating control unit 72 Flow chart.Automatization level determination unit 90 receives driving behavior and the input of accumulated value (S10).It is " 0 " in driving behavior number In the case where (S12 is "Yes"), automatization level determination unit 90 select automatization level " 1 " (S14).It is not in driving behavior number In the case where " 0 " (S12 is "No"), automatization level determination unit 90 calculates irrelevance and peak number (S16).It is less than rule in irrelevance In the case where definite value 1 (S18 is "Yes"), automatization level determination unit 90 selects automatization level " 2 " (S20).Irrelevance not Less than specified value 1 (S18 is "No") and in the case that peak number is 2 or more (S22 is "Yes"), automatization level determination unit 90 is selected Automatization level " 3 " (S24).
In the case where peak number is not 2 or more (S22 is "No") and irrelevance is less than specified value 2 (S26 is "Yes"), automatically Change horizontal determination unit 90 and selects automatization level " 4 " (S28).It is not less than specified value 2 (S26 is "No") and irrelevance in irrelevance In the case where less than specified value 3 (S30 is "Yes"), automatization level determination unit 90 selects automatization level " 5 " (S32).Inclined It is not less than specified value 3 (S30 is "No") from degree and irrelevance is less than (S34 is "Yes") in the case where specified value 4, automatization level Determination unit 90 selects automatization level " 6 " or " 6.5 " (S36).In addition, not less than specified value 3 and being less than specified value 4 in irrelevance During irrelevance it is slightly lower in the case where, select automatization level " 6 ", irrelevance not less than specified value 3 and be less than specified value 4 In the case that period irrelevance is slightly higher, select automatization level " 6.5 ".
In the case where irrelevance is not less than specified value 4 (S34 is "No") and irrelevance is less than specified value 5, (S38 is "Yes"), automatization level determination unit 90 selects any of automatization level " 7 ", " 8 ", " 9 " (S40).In addition, deviateing In the case that irrelevance is slightly lower during degree is not less than specified value 4 and is less than specified value 5, selects automatization level " 7 ", deviateing In the case that irrelevance is slightly higher during degree is not less than specified value 4 and is less than specified value 5, selects automatization level " 8 ", deviateing Degree selects automatization level " 9 " not less than specified value 4 and less than under irrelevance during specified value 5 further raised situation. In the case where irrelevance is not less than specified value 5 (S38 is "No"), automatization level determination unit 90 selects automatization level " 10 " (S42).Generating unit 94 reads output template (S44) corresponding with automatization level, and driving behavior is applied to output template (S46).Output section 96 exports prompt information (S48).In addition, specified value 1<Specified value 2<Specified value 3<Specified value 4<Specified value 5.
According to the present embodiment, prompt information is generated using output template corresponding with automatization level, therefore can Notify that the reliability of prompt information, the automatization level are based on using the driving behavior model by generations such as machine learning to obtain To estimated result and select.In addition, based on as using the driving behavior model by generations such as machine learning to obtain The irrelevance of reliability of driving behavior of estimated result select an automatization level, therefore can be by driving behavior Reliability is mapped with automatization level.In addition, based on as the driving behavior model used through generations such as machine learning The peak number of the reliability of the driving behavior of obtained estimated result selects an automatization level, therefore can be by driving behavior Reliability be mapped with automatization level.In addition, as reliability, using accumulated value, thus it is tired being exported by estimator In the case where product value, automatization level can be selected.In addition, due to the output template difference under different automatization levels, because This can make driver identify automatization level.In addition, due to output template difference, energy under different automatization levels It is enough to use the output template to match with automatization level.
More than, describe embodiment according to the present invention, but the function of above-mentioned apparatus, each processing unit in detail referring to attached drawing It can be realized by computer program.Realize that the computer of above-mentioned function has by program：Keyboard, mouse, touch The input units such as panel；The output devices such as display, loudspeaker；CPU(Central Processing Unit：Central processing Device)；ROM, RAM, hard disk device, SSD (Solid State Drive：Solid state hard disk) etc. storage devices；From DVD-ROM (Digital Versatile Disk Read Only Memory：Digital versatile disc read-only memory), USB storage Etc. recording mediums read information reading device；And the network interface card etc. communicated via network.Each portion of these computers is logical Cross bus connection.
In addition, reading device reads the program from the recording medium that record has above procedure, and the program is stored in Storage device.Alternatively, network interface card is communicated with the server unit for being connected to network, will be downloaded from server unit for realizing The program of the function of above-mentioned each device is stored in storage device.In addition, CPU is by the program copy stored in storage device to RAM, By from the order for including in the program and execution is sequential read out in RAM, to realize the function of above-mentioned each device.
The summary of one embodiment of the present invention is as follows.The drive assistance device of some mode of the invention has automatically Change horizontal determination unit, generating unit and output section.Automatization level determination unit be based on as using driving behavior model to obtain The irrelevance of the corresponding reliability of a variety of driving behaviors of estimated result select to be defined as the automatic of multiple ranks Change an automatization level in level.Generating unit by by a variety of driving behaviors be applied to be defined as multiple ranks from In the horizontal corresponding output template of dynamicization with an automatization level pair being selected in automatization level determination unit The output template answered, to generate prompt information.Output section exports the prompt information generated in generating unit.
According to which, using output template corresponding with automatization level, therefore suggested information can be notified Reliability, the automatization level are based on the estimated result for using the driving behavior model by generations such as machine learning to obtain It selects.
The reliability of process object as automatization level determination unit is also possible to the accumulated value for each driving behavior. In this case, it as reliability, using accumulated value, therefore in the case where exporting accumulated value by estimator, can select certainly Dynamicization is horizontal.
The reliability of process object as automatization level determination unit is also possible to the likelihood score for each driving behavior. In this case, it as reliability, using likelihood score, therefore in the case where exporting likelihood score by estimator, can select certainly Dynamicization is horizontal.
Become in generating unit and uses object and output corresponding with the automatization level for being defined as multiple ranks It in template, can be, (1) does not notify driving behavior under the automatization level of first level, and (2) are in automatization level than Under the automatization level of the high second level of one rank, the option of driving behavior is notified, (3) compare second level in automatization level Under the automatization level of high third level, notify driving behavior executes report, and (4) are higher than third level in automatization level Fourth level automatization level under, do not notify driving behavior.In this case, due to defeated under different automatization levels Template is different out, therefore driver can be made to identify automatization level.
Other way of the invention is a kind of automatic Pilot control device.The device has automatization level determination unit, life At portion, output section and automatic Pilot control unit.Automatization level determination unit be based on as using driving behavior model to obtain The irrelevance of the corresponding reliability of a variety of driving behaviors of estimated result select to be defined as the automatic of multiple ranks Change an automatization level in level.Generating unit by by a variety of driving behaviors be applied to be defined as multiple ranks from In the horizontal corresponding output template of dynamicization with an automatization level pair being selected in automatization level determination unit The output template answered, to generate prompt information.The prompt information that automatic Pilot control unit is generated in generating unit based on output The driving behavior of one of output section and a variety of driving behaviors controls the automatic Pilot of vehicle.
Another mode of the invention is a kind of vehicle.The vehicle has automatization level determination unit, generating unit and defeated Portion out.Automatization level determination unit is a kind of vehicle for having drive assistance device, drive assistance device be based on as using The irrelevance of the corresponding reliability of a variety of driving behaviors for the estimated result that driving behavior model obtains selects to be defined One of automatization level for multiple ranks automatization level.Generating unit is by being applied to a variety of driving behaviors and being determined Justice be in the corresponding output template of automatization level of multiple ranks with select in automatization level determination unit The corresponding output template of one automatization level, to generate prompt information.The prompt letter that output section output generates in generating unit Breath.
Another mode of the invention is a kind of driving assistance system.The driving assistance system, which has, generates driving behavior mould The server of type and the drive assistance device for receiving the driving behavior model generated in the server.Drive assistance device has certainly The horizontal determination unit of dynamicization, generating unit and output section.Automatization level determination unit be based on as using driving behavior model to obtain To estimated result the corresponding reliability of a variety of driving behaviors irrelevance come select to be defined as multiple ranks from An automatization level in dynamicization level.Generating unit is by being applied to by a variety of driving behaviors and being defined as multiple ranks In the corresponding output template of automatization level with an automatization level being selected in automatization level determination unit Corresponding output template, to generate prompt information.Output section exports the prompt information generated in generating unit.
Another mode of the invention is a kind of driving assistance method.About this method, based on go as using to drive The irrelevance of the corresponding reliability of a variety of driving behaviors of the estimated result obtained for model is multiple to select to be defined as An automatization level in the automatization level of rank.Also, by by a variety of driving behaviors be applied to be defined as it is more Output corresponding with a selected automatization level out in the corresponding output template of the automatization level of a rank Template, to generate prompt information.Also, export prompt information generated.
More than, the present invention is illustrated according to embodiment.These embodiments are to illustrate, for those skilled in the art Speech, it is understood that these constituent elements, processing routine combination in can include various modifications example, in addition, these become Shape example exists in the scope of the present invention.
In embodiments, driving behavior estimator 70 is contained in the control unit 41 of drive assistance device 40.However, not It is limited to this, for example, driving behavior estimator 70 also may include the control unit 31 in automatic Pilot control device 30.According to this change Shape example can be improved the freedom degree of structure.
In embodiments, driving behavior model 80 generates in driving behavior study portion 310, and is sent to driving row For estimator 70.However it is not limited to this, for example, driving behavior model 80 can also be pre-installed on driving behavior estimator 70. According to this modification, structure can be simplified.
In embodiments, the driving that driving behavior estimator 70 is generated using the deep learning by using neural network Behavior model, to execute estimation.However it is not limited to which this, has used for example, driving behavior estimator 70 also can use except deep The driving behavior model of machine learning other than degree study.An example of machine learning in addition to deep learning is SVM.Drive row The filtering generated by statistical disposition can also be used for estimator 70.An example of filtering is collaborative filtering.In collaborative filtering, The correlation for calculating the driving history record or running history record and input parameter that correspond to each driving behavior, thus selects phase Pass is worth high driving behavior.Confidence level is shown by correlation, therefore correlation is equivalent to reliable alternatively at likelihood score Property.It according to this modification,, can using likelihood score, therefore in the case where exporting likelihood score by estimator 82 as reliability Select automatization level.Also, driving behavior estimator 70 can be following rule：A pair is kept to output and input in advance, it should To outputting and inputting for indicating respectively whether there is danger by machine learning or a variety of behaviors for being uniquely mapped of filtering Danger.
Industrial availability
The present invention can be used in automatic driving vehicle.
Description of symbols
2：Notify device；2a：Head-up display；2b：Central display；4：Input unit；4a：First operation portion；4b：The Two operation portions；6：Loudspeaker；8：Wireless device；10：Driver behavior portion；20：Test section；30：Automatic Pilot control device；31： Control unit；32：Storage unit；33：The portion I/O；40：Drive assistance device；41：Control unit；42：Storage unit；43：The portion I/O；50：Behaviour Make input unit；51：Image and audio output unit；52：Detection information input unit；53：Order IF；54：Behavioural information input unit； 55：Order output section；56：Communication IF；70：Driving behavior estimator；72：Display control section；80：Driving behavior model；82：Estimate Meter portion；84：Histogram generating unit；90：Automatization level determination unit；92：Output template storage unit；94：Generating unit；96：Output Portion；100：Vehicle；300：Server；302：Network；310：Driving behavior study portion；500：Driving assistance system.

Claims (9)

1. a kind of drive assistance device, has：
Automatization level determination unit, based on distinguishing with the estimated result i.e. a variety of driving behaviors for using driving behavior model to obtain The irrelevance of corresponding reliability selects an automatization level being defined as in the automatization level of multiple ranks；
Generating unit, it is right respectively with the automatization level for being defined as multiple ranks that a variety of driving behaviors are applied to Output template corresponding with the automatization level selected by the automatization level determination unit in the output template answered, Thus generate prompt information；And
Output section exports the prompt information generated in the generating unit.
2. drive assistance device according to claim 1, which is characterized in that
The reliability as the process object in the automatization level determination unit is in a variety of driving behaviors Various driving behaviors accumulated value.
3. drive assistance device according to claim 1, which is characterized in that
The reliability as the process object in the automatization level determination unit is in a variety of driving behaviors Various driving behaviors likelihood score.
4. drive assistance device according to any one of claims 1 to 3, which is characterized in that
Become in generating unit and uses object and output corresponding with the automatization level for being defined as multiple ranks In template, (1) does not notify driving behavior under the automatization level of first level, and (2) are higher than first level in automatization level Second level automatization level under, notify the option of driving behavior, (3) third higher than second level in automatization level Under the automatization level of rank, notify driving behavior executes report, (4) fourth stage higher than third level in automatization level Under other automatization level, driving behavior is not notified.
5. a kind of automatic Pilot control device, has：
Automatization level determination unit, based on distinguishing with the estimated result i.e. a variety of driving behaviors for using driving behavior model to obtain The irrelevance of corresponding reliability selects an automatization level being defined as in the automatization level of multiple ranks；
Generating unit, it is right respectively with the automatization level for being defined as multiple ranks that a variety of driving behaviors are applied to Output template corresponding with the automatization level selected by the automatization level determination unit in the output template answered, Thus generate prompt information；
Output section exports the prompt information generated in the generating unit；And
Automatic Pilot control unit controls driving automatically for vehicle based on one of a variety of driving behaviors driving behavior It sails.
6. a kind of vehicle, has drive assistance device, wherein
The drive assistance device has：
Automatization level determination unit, based on distinguishing with the estimated result i.e. a variety of driving behaviors for using driving behavior model to obtain The irrelevance of corresponding reliability selects an automatization level being defined as in the automatization level of multiple ranks；
Generating unit, it is right respectively with the automatization level for being defined as multiple ranks that a variety of driving behaviors are applied to Output template corresponding with the automatization level selected by the automatization level determination unit in the output template answered, Thus generate prompt information；And
Output section exports the prompt information generated in the generating unit.
7. a kind of driving assistance system, has：
Server generates driving behavior model；And
Drive assistance device receives the driving behavior model generated in the server,
Wherein, the drive assistance device has：
Automatization level determination unit, based on the i.e. a variety of driving behaviors of estimated result that use the driving behavior model to obtain The irrelevance of corresponding reliability selects an automatization level being defined as in the automatization level of multiple ranks；
Generating unit, it is right respectively with the automatization level for being defined as multiple ranks that a variety of driving behaviors are applied to Output template corresponding with the automatization level selected by the automatization level determination unit in the output template answered, Thus generate prompt information；And
Output section exports the prompt information generated in the generating unit.
8. a kind of driving assistance method, includes the following steps：
Deviation based on reliability corresponding with the i.e. a variety of driving behaviors of the estimated result for using driving behavior model to obtain Degree selects an automatization level being defined as in the automatization level of multiple ranks；
A variety of driving behaviors are applied to output corresponding with the automatization level for being defined as multiple ranks Output template corresponding with the automatization level selected in template, thus generates prompt information；And
Export the prompt information generated.
9. a kind of program, for making computer execute following steps：
Deviation based on reliability corresponding with the i.e. a variety of driving behaviors of the estimated result for using driving behavior model to obtain Degree selects an automatization level being defined as in the automatization level of multiple ranks；
A variety of driving behaviors are applied to output corresponding with the automatization level for being defined as multiple ranks Output template corresponding with the automatization level selected in template, thus generates prompt information；And
Export the prompt information generated.
CN201780019526.6A 2016-03-25 2017-02-14 Driving assistance device, driving assistance system, driving assistance method, control device, vehicle, and medium Active CN108885836B (en)

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